Electronic line shaft

ABSTRACT

A method and assembly for synchronizing machine operations, the assembly comprising a reference generator for generating a speed reference signal and a position reference signal, a plurality of slave units, each slave unit including, a mechanical device, a separate motor linked to and driving the mechanical device and a separate unit controller for controlling the unit motor, the unit controller receiving and using the reference signals to control motor operation and a synchronizer receiving the reference signals from the control signal source and simultaneously providing the reference signals to each of the slave unit controllers for use in controlling operation of the motors in a synchronized fashion.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation in part of U.S. patent application Ser. No. 11/231,628 entitled “Motor Drive With Synchronized Timing” that was filed on Sep. 21, 2005 and issued as U.S. Pat. No. 7,148,635.

STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT

Not applicable

BACKGROUND OF THE INVENTION

The present invention relates generally to motor control and, more particularly, to a motor drive with synchronized timing.

This section of this document is intended to introduce various aspects of art that may be related to various aspects of the present invention described and/or claimed below. This section provides background information to facilitate a better understanding of the various aspects of the present invention. It should be understood that the statements in this section of this document are to be read in this light, and not as admissions of prior art.

Rotating motors are typically controlled by a motor drive that receives reference motor velocity and position signals and produces a torque signal that is applied to the motor. The torque signal is generally controlled using a pulse width modulated (PWM) technique. Adjustment of the torque signal based on changes to the reference velocity or position signals relative to measured feedback velocity and position signals ensures that the motor rotates at the reference velocity.

Some applications require precise motor control across multiple, synchronized motors. For example, an electronic line shaft may be employed in a printing application to move the paper or other material over rollers and through various stages of the printing process. For instance, an exemplary printing system may include a folding unit and a plurality of separate printing units where each printing unit includes a plurality or rollers, motors, motor controllers that move a web of paper along and apply different ink colors thereto. After printing, the printing units feed the folding unit that cuts the printed web into sheets and, as the label implies, folds the cut sheets to form sections of newspapers, books, magazines or the like. To ensure print quality, the various stages are synchronized. A lack of synchronicity between the stations results in misregistration between the colors and/or the cut sheets, leading to unacceptable product that may need to be scrapped.

Previous generations of printing technology employed a mechanical line shaft mechanically linked to the various printing units and the folding unit. Rotation of the line shaft by an electric motor activated rollers and other printing unit tools along the line to facilitate the printing process. In a mechanical line shaft system, factors such as play in the mechanical linkages, stretching of the paper web, and torsional flexing of the line shaft itself make it difficult to achieve and maintain synchronicity between the printing units, especially during periods of acceleration and deceleration of the printing system. It has been observed that when synchronicity is not maintained, product generated includes excessive flaws and is often unacceptable for intended use. Mechanical line shafts also have reduced flexibility in addressing print changes. Hence, where changes are required, down time may be excessive.

More modern printing systems, commonly referred to shaftless printing systems or electronic line shaft systems, employ a plurality of motors, motor controllers and associated rollers that form printing and folding units that are electronically synchronized, as opposed to mechanically synchronized. Lack of synchronicity in an electronic line shaft results in similar problems, such as color misregistration, evident in a mechanical line shaft system.

When operating a plurality motors synchronously in an automated system, several factors exist that may cause the position of the motors to deviate from each other even though they are all operating pursuant to a single reference velocity signal. For instance, motor inertia between motors at different stations is often non-uniform and can cause one motor to drift from the other motors.

One solution for reducing drift between motors in a printing system that includes a folding unit and a plurality of printing units has been to divide the printing units into unit groups (e.g., where a group includes printing units that are logically related—a group may include six printing units that apply color print to a single page where the print applied by the six units has to be precisely aligned), obtain a position signal from the folding unit and provide the position signal to each of the groups to be distributed via a high speed bus to units within the group. While this solution results in unit groups that each separately generate substantially aligned printed product, alignment is not exact as, even in the case of a high speed inter-group but, there is some propagation time between the group unit controllers and hence the controllers are slightly phase shifted. In addition, while the units in each separate group may generate substantially aligned printed product, the printed product from each group may be misaligned when received at the folder unit because of the propagation delay between the folding from which the position signal is obtained and the printing unit groups.

Therefore, it would be advantageous to have a more accurate configuration for synchronizing printing and folding units in a printing system. Similarly and more generally, it would be advantageous to have an extremely accurate synchronizing system for use in any electronic line shaft application.

SUMMARY OF THE INVENTION

The present invention overcomes the aforementioned drawbacks by providing a system and method to that provides reference signals to a plurality of slave unit controllers for use in controlling operation of a plurality of motors in a synchronized fashion. In particular, a synchronizer is designed to synchronize the motors of printing system including folding units based on a plurality of reference input signals.

In accordance with one embodiment, an assembly for synchronizing machine operations is disclosed that includes a reference generator for generating a speed reference signal and a position reference signal. A plurality of slave units are included that each have a mechanical device and a separate motor linked to and driving the mechanical device. Additionally, the plurality of slave units include a separate unit controller for controlling the unit motor that receives and uses the reference signals to control motor operation. A synchronizer is configured to receive the reference signals from the control signal source and simultaneously providing the reference signals to each of the slave unit controllers for use in controlling operation of the motors in a synchronized fashion.

In accordance with another embodiment, an assembly for synchronizing machine operations is disclosed that includes reference generator for generating a speed reference signal and a position reference signal. A plurality of slave units are included that each have a mechanical device and a separate motor linked to and driving the mechanical device. An encoder generates an encoder signal usable to identify the rotational position of at least one of the mechanical device and the motor. A separate unit controller is provided for controlling the unit motor. The unit controller receives and uses the reference signals and the encoder signals to control motor operation. The unit controller includes an inertia adaptation unit that receives the encoder signal and uses the encoder signal to modify motor control as a function of load inertia. A synchronizer receives the reference signals from the control signal source and simultaneously provides the reference signals to each of the slave unit controllers for use in controlling operation of the motors in a synchronized fashion.

In accordance with yet another embodiment, an assembly for synchronizing machine operations is disclosed that includes a reference generator for generating a speed reference signal and a position reference signal. A plurality of slave units are included that each have a mechanical device and a separate motor linked to and driving the mechanical device. An encoder generates an encoder signal usable to identify the rotational position of at least one of the mechanical device and the motor. A separate unit controller is provided for controlling the unit motor, which receives and uses the reference signals and the encoder signals to control motor operation. In particular, the unit controller includes an inertia adaptation unit that receives the encoder signal and uses the encoder signal to modify motor control as a function of load inertia. A synchronizer is included that receives the reference signals from the control signal source and simultaneously provides the reference signals to each of the slave unit controllers for use in controlling operation of the motors in a synchronized fashion. In this regard, the synchronizer generates and provides periodic synchronization signals to the unit controllers indicating times at which the reference signals are to be used by the unit controllers to control motor operation.

In accordance with still another embodiment, a method is disclosed for synchronizing operations of units where each unit includes a mechanical device, a separate motor linked to and driving the mechanical device and a separate unit controller for controlling the unit motor. The method includes generating a master speed reference signal and a master position reference signal and transmitting the speed and position reference signals to the unit controllers. The method also includes storing the received reference signals at the unit controllers and periodically providing synchronization signals to each of the unit controllers. As such, when a synchronization signal is received at a unit controller, the unit controller is caused to control operation of an associated unit motor as a function of the received reference signals.

In accordance with a further embodiment, a method is disclosed for synchronizing operations of units where each unit includes a mechanical device, a separate motor linked to and driving the mechanical device and a separate unit controller for controlling the unit motor. In particular, the method includes providing position feedback signals to each of the unit controllers that indicate the instantaneous position of at least one of the mechanical device and the motor in an associated unit. The method also includes using the position feedback signals to identify a load inertia estimate and simultaneously releasing speed and position reference signals to each of the unit controllers for controlling the unit motors. As such, upon release of the reference signals, each unit controller is caused to use each of the reference signals and the load inertia estimate to control unit motor operation.

Various other features and advantages of the present invention will be made apparent from the following detailed description and the drawings.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

The invention will hereafter be described with reference to the accompanying drawings, wherein like reference numerals denote like elements, and:

FIG. 1 is a simplified diagram of an electronic line shaft in accordance with one embodiment of the present invention;

FIG. 2 is a simplified block diagram of the electronic line shaft of FIG. 1 from a control perspective;

FIG. 3 is a block diagram of a motor control system in accordance with the present invention;

FIG. 4 is a diagram illustrating an edge signal generated from an encoder output useful for determining motor position and velocity;

FIG. 5 is a block diagram of a velocity compensation unit in the motor control system of FIG. 3;

FIG. 6 is a prior art graph of velocity versus time during an acceleration event illustrating lost velocity-seconds;

FIG. 7 is a graph of velocity versus time during an acceleration event illustrating lost velocity-seconds and velocity-seconds restored in accordance with the present invention;

FIG. 8 is a timing diagram illustrating the synchronization of updates within the electronic line shaft of FIG. 2 and the motor control system of FIG. 3;

FIG. 9 is a simplified block diagram of a second embodiment of an electronic line shaft that may be used in FIG. 1 from a control perspective; and

FIG. 10 is similar to FIG. 2, albeit illustrating one way to link an electronic line shaft to an existing line shaft configuration so that components that comprise both line shafts can be synchronized.

FIG. 11 is a block diagram of a position predictor in the electronic line shaft of FIG. 10.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof have been shown by way of example in the drawings and are herein described in detail. It should be understood, however, that the description herein of specific embodiments is not intended to limit the invention to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.

DETAILED DESCRIPTION OF THE INVENTION

One or more specific embodiments of the present invention will be described below. It is specifically intended that the present invention not be limited to the embodiments and illustrations contained herein, but include modified forms of those embodiments including portions of the embodiments and combinations of elements of different embodiments as come within the scope of the following claims. It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business related constraints, which may vary from one implementation to another. Moreover, it should be appreciated that such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure. Nothing in this application is considered critical or essential to the present invention unless explicitly indicated as being “critical” or “essential.”

Referring now to the drawings wherein like reference numbers correspond to similar components throughout the several views and, specifically, referring to FIG. 1, the present invention shall be described in the context of an electronic line shaft 10. In the illustrated embodiment, the electronic line shaft 10 is employed to control a printing process that includes folding units and printing units, however, the application of the present invention is not limited to any particular process or application. The phrase “electronic line shaft” is intended to apply to any system in which two or more motors are controlled in a synchronized fashion to facilitate a process.

A plurality of print stations 15, 20, perform printing operations on a moving web, 25 (e.g., paper). The printing operations performed by the print stations 15, 20 may vary. For example, some printing systems print using 4 color print processes. Each print station 15, 20 prints a different color. Other stations 15, 20 perform operations such as cutting, binding, folding (e.g., a folding station or unit), etc. Motor-driven rollers 30, 35, 40 move the web 25 through the stations 15, 20. Although the rollers 30, 35, 40 are shown as being separate from the stations 15, 20, in some embodiments, they may be integrated. Each motor-driven roller 30, 35, 40 has an associated controller 45, 50, 55, respectively. In the illustrated embodiment controller 45 operates as a master controller and the controllers 50, 55 operate as slave controllers. Master controller 45 generates reference position and velocity or speed signals or data for the slave controllers 50, 55 so that synchronization may be achieved. Synchronization of the rollers 30, 35, 40 allows synchronization of units 15, 20 to effectively perform the printing and printed material or product handling processes. Although the controllers (e.g., 45, 50, etc.) are shown as associated with rollers (e.g., 30, 35, etc.), it should be appreciated that the controllers may be associated with any type of mechanical device located at one of the stations or units (e.g., 15, 20, etc.).

Turning now to FIG. 2, a block diagram of the electronic line shaft 10 from a control perspective is provided. The electronic line shaft 10 includes a master drive or unit 100 and one or more slave drives or units 110, only one of which is illustrated, a synchronization unit 165, a signal source 130 and a ramp generator 135. In the illustrated embodiment drive or unit 100 includes a motor 102, a motor control system 104, first and second delay elements 150 and 160, respectively, a virtual encoder 145, and an encoder 106. Slave drive or unit 110 includes a motor 112, a motor control system 114 and an encoder 116. Motors 102,112, motor control systems 104, 114, and encoders 106,116 operate in similar fashions and therefore, to simplify this explanation, only motor 102, encoder 106, and motor control system 104 will be described here in any detail.

Motor control system 104 generates appropriate voltages and control signals for controlling motor 102. Encoder 106 generates position information as motor 102 rotates. A plurality of radially displaced optical markings (not shown) are disposed about the periphery of a disk that rotates with the load (e.g., the rollers 30, 35, 40 in FIG. 1) associated with motor 102. Encoder 106 includes a scanner that identifies the passage of each marking to enable the determination of load position as described in more detail below.

Motor 102 receives a torque input signal 120 from the motor control system 104 and rotates the load at a reference velocity in response to the torque input signal 120. In general, the master drive or unit 100 receives a command velocity or speed signal 125 from signal source 130, and converts the command velocity signal into torque signals to drive motor 102. The torque signals are adjusted during operation based on factors such as a deviation between the feedback load position and reference load position, a deviation between the feedback velocity and reference velocity, and motor inertia that prevents the motor 102 from immediately reacting fully to a change in the torque input signal 120.

Referring still to FIG. 2, signal source 130 may comprise any conventional device capable of receiving an input related to a reference velocity of motor rotation. For instance, the input may be manually entered (e.g., via a man machine interface) or may be automatically provided to the signal source 130 via an automated control system. As another instance, source 130 may include an encoder that is linked to another motor or a load of another system to receive encoder signals indicating position and/or speed of the other motor or load.

Ramp generator 135 receives the command velocity or speed signal 125 from the signal source 130 and produces a reference velocity or speed signal 140 that transitions or ramps up or down to the input command velocity signal 125. In this regard, the ramp generator 135 prevents abrupt changes in the speed command and, therefore, the torque command that is input to the motor 102 to reduce stress that would be experienced by the motor components if the torque signal were to abruptly change. The signal source 130 and ramp generator 135 are be collectively referred to as a reference signal generator.

During operation, when the command velocity signal 125 is applied to ramp generator 135, the ramp generator 135 determines the difference between the current command velocity signal 125 and the previous command velocity signal 125. The ramp generator 135 then determines a period of time necessary to transition the reference velocity signal 140 to a level corresponding to the command velocity signal 125. For example, the reference velocity signal 140 may be ramped linearly by the ramp generator 135, or may be ramped hyperbolically or in any other suitable manner that smoothly transitions the motor 102 to the command velocity signal 125.

The ramp generator 135 outputs the reference velocity signal 140 to virtual encoder 145 and to delay element 150. The virtual encoder 145 is virtual in that it is programmed in firmware of drive 100. The construction and operation of the virtual encoder 145 is described in greater detail in U.S. Pat. No. 6,850,021, issued Feb. 1, 2005, entitled, “PRECISION VIRTUAL ENCODER,” commonly assigned to the assignee of the present application, and incorporated herein by reference in its entirety. In general, the virtual encoder 145 receives the reference velocity signal 140 from the ramp generator 135 and, based on a constant scale factor of the pulses per revolution of the motor 102 (e.g., 4096 pulses per revolution), integrates the input reference velocity signal 140. The virtual encoder 145 thus produces and outputs a reference position signal 155 that is a virtual equivalent of an integer position marking count that would originate from a real, physical encoder. The reference position signal 155 is provided to delay element 160. The reference velocity signal 140 and reference position signal 155 are also provided to synchronization unit 165 for communication to the slave drive or unit 110 and any other slave drives or units that comprise the electronic line shaft 10.

The outputs of delay elements 150 and 160 are provided as delayed velocity and position signals to motor control system 104. The reference velocity signal 140 and reference position signal 155 are delayed by the delay elements 150, 160 to provide sufficient time for the synchronization unit 165 to propagate the values to the slave drives or units 110 and their associated motor control systems 114 so that the master drive 100 and slave drives 110 may act on the control information in a synchronous fashion. The synchronization unit 165 also provides a synchronization signal 167 to the motor control systems 104,114 for synchronizing execution of tasks, as described in greater detail below in reference to FIG. 8, so that the most current data may be used. The construction and operation of the synchronization unit 165 is described in greater detail in U.S. patent application Ser. No. 09/862,941, filed May 22, 2001, entitled, “APPARATUS FOR MULTI-CHASSIS CONFIGURABLE TIME SYNCHRONIZATION”, U.S. Pat. No. 7,007,106, issued Feb. 28, 2006, entitled, “PROTOCOL AND METHOD FOR MULTI-CHASSIS CONFIGURABLE TIME SYNCHRONIZATION,” and U.S. Pat. No. 6,914,914, issued Jul. 5, 2005, entitled, “SYSTEM AND METHOD FOR MULTI-CHASSIS CONFIGURABLE TIME SYNCHRONIZATION”, each commonly assigned to the assignee of the present application and incorporated herein by reference in its entirety.

In general, the synchronization unit 165 generates a timing signal in conjunction with the reference position and velocity and provides them to the slave drives or units 110. Responsive to the timing signal, the motor control systems 104, 114 act on the data to compare the feedback velocity and position to the reference values and make control adjustments synchronously and accordingly. Thus, the delay elements 150, 160 in the motor control system 104 provide a functional time equivalent of the delay in the position and speed commands that are delivered by the synchronization unit 165 to the slave motor control systems 114.

Turning now to FIG. 3, a simplified block diagram illustrating an exemplary motor control system 104 is provided. The operation of the motor control system 114 (see also FIG. 2) is similar, and is not described herein in the interest of simplifying this explanation. The motor control system 104 includes a position regulator 200 for controlling position errors, a velocity regulator 225 for controlling velocity errors, a velocity noise filter 230 for filtering position data to determine the velocity of the motor 102, an inertia compensation unit 250 for adjusting the control based on the expected inertial response of the motor 102, a velocity compensation unit 285 that affects the velocity control during periods of acceleration/deceleration, an inertia adaption unit 290 for generating acceleration feedback, first and second summers 215, 245 (i.e., adjustors), and a motor controller 295 that adjusts the torque input signal 120 applied to motor 102.

The reference position signal 155 is provided to the position regulator 200. The position regulator 200 also receives a feedback position signal 205 which reflects a measurement of the optical position count determined by the encoder 106. Position regulator 200 subtracts the feedback position signal 205 from the reference position signal 155 to generate a position error signal 210 corresponding to the error between the feedback position and reference position. The position error signal 210 is one component used to eventually determine the torque input signal 120 applied to the motor 102. In general, the velocity of the motor 102 is adjusted to correct the position error by adding a component to the velocity if the feedback position count trails the reference position and subtracting a component from the velocity if the feedback position count is greater than the reference position. In generating the position error signal, the position regulator 200 converts the count error to a per unit velocity consistent with the reference velocity signal 140 by multiplying the count by a factor relating the seconds per edge of the encoder 106 at the base speed of the motor 102. The summer 215 receives the position error signal 210 and the reference velocity signal 140.

Referring still to FIG. 3, inertia compensation unit 250 includes a derivative module 255 and a multiplier 265. Derivative module 255 receives the reference velocity signal 140 and, as the label implies, determines the derivative of the reference velocity signal 140 output by the ramp generator 135 (i.e., ramp rate where the derivative is an acceleration signal 260). The acceleration signal 260 is provided to multiplier 265. Multiplier 265 also receives an inertia coefficient signal 270 related to the inertia of motor 102. Multiplier 265 multiplies the inertia coefficient signal 270 and the acceleration signal 260 to provide an inertia compensation signal 275 that is provided to summer 245.

Summer 245 adds the inertia compensation signal 275 to the velocity regulator output signal 240 to generate a torque reference signal 280 for adjusting the torque input signal 120 applied to motor 102.

The inertia compensation unit 250 is provided because changes in torque input signals 120 to motor 102 are resisted by the inertia of the motor 102, whether spinning or at rest. The inertia compensation signal 275 thus provides an additional signal that counteracts the inherent resistance of motor 102 to changes in velocity. It should be appreciated that when reference velocity signals 140 is decreasing, the derivative calculated by derivative module 255 is negative, thereby reducing the torque input signal 120 applied to motor 102. The inertia coefficient 270 is determined during the commissioning of the system and represents the time required to accelerate the inertia of the motor/load to base speed at rated torque. In embodiments, where the inertia adaption unit 290 is enabled, the inertia coefficient 270 is increased by approximately 50% from the system inertia, because the inertia adaption unit 290 electronically adds 50% to the effective system inertia of the system.

Referring still to FIG. 3, the velocity compensation unit 285 receives the acceleration signal 260 and generates a velocity compensation signal 287 which is provided to summer 215. The operation of the velocity compensation unit 285 is discussed in greater detail below with reference to FIGS. 6 and 8.

Summer 215 adds signals 140, 210 and 287 and provides its output 220 to a summer 226 in the velocity regulator 225. The other input to the summer 226 in the velocity regulator 225 is provided by the velocity noise filter 230. Velocity noise filter 230 receives various input values, N and T_(v), during a commissioning procedure and uses those values along with a feedback position signal 205 from encoder 106 to generate a feedback velocity signal 235. Operation of velocity noise filter 230 is described in greater detail below. The summer 226 in the velocity regulator 225 subtracts the feedback velocity signal 235 from the sum 220 output by summer 215 to generate an error signal. The error signal is filtered by a velocity error filter 227, and the filtered error signal is provided to a proportional-integral (PI) controller 228. The output of the PI controller 228 is a velocity regulator output signal 240 that corresponds to the difference between the sum 220 and the feedback velocity signal 235. The velocity regulator output signal 240 is provided to summer 245. As described in greater detail below, the velocity error filter 227 is coordinated to cooperate with the velocity noise filter 230 to attenuate the sideband components introduced by the velocity noise filter 230. The operation of the PI controller 228 for controlling the velocity error is well known to those of ordinary skill in the art, and in the interests of simplifying this description, is not detailed herein.

Still referring to FIG. 3, inertia adaption unit 290 generates an acceleration feedback component for inclusion by the summer 245 for adjusting the torque reference signal 280 provided to the motor controller 295. Inertia adaption unit 290 creates an electronic inertia or load inertia estimate of precise magnitude to minimize velocity regulator gain change when a mechanical inertia becomes disconnected from the motor. For instance, when using a gear-box or spring coupling at high frequencies. System stability is increased in such systems, especially when load inertia is much greater than motor inertia. The inertia adaption unit 290 may not be used in some embodiments. Typically, the inertia adaption unit 290 is not used if the system inertia is <3 times the motor inertia. The inertia adaption unit 290 may be used if there is a gear-box and/or spring coupling with a resonant frequency in the range of 30 to 200 Hz, or if the desired velocity bandwidth exceeds two thirds of the maximum bandwidth divided by the inertia ratio. The construction and operation of the inertia adaption unit 290 is described in greater detail in U.S. patent application Ser. No. 10/662,556, filed Sep. 15, 2003, entitled, “METHOD AND APPARATUS FOR PROVIDING OPTIMAL ACCELERATION FEEDBACK,” commonly assigned to the assignee of the present application, and incorporated herein by reference in its entirety.

Referring to FIG. 3, the inertia adaption unit 290 may be configured to receive the feedback velocity signal 235 from the velocity noise filter 230 for determining the acceleration feedback, or alternatively, the inertia adaption unit 290 may receive the unfiltered position data from the encoder 106 (i.e., as indicated by the dashed line) and calculate an instantaneous velocity using the last two position values and the time interval between the values.

The motor controller 295 adjusts the torque input signal 120 based on variations between feedback and reference position, feedback and reference velocity, and inertia effects, as described above. In general, the motor controller 295 receives the torque reference signal 280 and implements a PWM technique for determining the torque input signal 120 applied to the motor 102. The construction and operation of the motor controller 295 are known and not described in greater detail herein.

With continued reference to FIG. 3, the operation of the velocity noise filter 230 and velocity error filter 227 are now described in greater detail. From a noise perspective the velocity noise filter 230 and velocity error filter 227 are in series. In general, the velocity noise filter 230 is a finite impulse response (FIR) filter performing a moving average function using N=2^(n) data points to determine a velocity value. The value of n may represent a noise index and may be configured in the drive firmware to provide differing filter responses. The velocity error filter 227 is an infinite impulse response (IIR) that attenuates sidebands of the FIR velocity noise filter 230.

Referring again to FIGS. 2 and 3, in general, encoder 106 detects and counts the passage of optical markings present on a disk that rotates along with the rotating load during operation. In one embodiment, the encoder 106 may employ a two channel system that outputs pulse trains corresponding to detections of the optical markings. Phase differences between the pulse trains from each channel may be used to determine motor direction. An edge detection circuit receives both pulse trains and generates an edge signal that includes a peak for every rising and falling edge of the pulse train for each channel. Hence, four successive peaks would represent a rising edge of the A channel, a rising edge of the B channel, a falling edge of the A channel, and a falling edge of the B channel.

FIG. 4 illustrates an exemplary edge signal 300 generated by the encoder 106. This particular encoder 106 implementation is provided for illustrative purposes only. Other types of position feedback devices may be used. In FIG. 4, the edge signal includes a plurality of edges 310 representing rising and falling edges of the signal generated by the encoder 106. The position is sampled at the frequency indicated by sampling interval 320. The edge-to-edge time (i.e., the time between edges or the time between subsequent rising edges of the A channel signal) is represented by the edge-to-edge interval 330. Note that the position is sampled in the time period between edges. An edge timer, which is reset with the receipt of every edge, may be used to track the time elapsed since the last edge so that the edge signal may be aligned to the last edge for accurate velocity determination. Thus, a position counter and edge timer may be sampled concurrently to accurately determine the number of edges that occurred during the current sampling interval as well as the precise time at which the edges occurred.

Referring again to FIG. 3, the velocity noise filter 230 multiplies the number of edges counted during the sampling interval, d_edge, by an edge scaling factor, edge_scale, and divides by time interval, d_time to generate a velocity value for the current sample: Velocity=d_edge*(edge_scale/d_time).  (1)

The edge scaling factor is based on the associated amount of motor travel for each edge detected. For instance, if the encoder 106 generates 4096 edges per revolution, and the motor base speed is 1750 rpm, the edge scaling factor is 60/4096/1750 sec/edge or 8.371*10⁻⁶ at motor base speed. The resulting motor velocity calculation from Equation 1 is unitless, such that a velocity of 1.0=motor base speed. The time interval, d_time varies depending on the value selected for n. The variable, d_time, represents the edge-to-edge interval 330 shown in FIG. 4, or the change in time measured over a 2^(n) moving average interval. Every sample interval, the velocity noise filter 230 is updated with two new values, pulse_count, and a time variable.

Sampling interval, d_edge, is the difference between the latest moving average pulse_count array element and a previously stored element, measured over the selected 2^(n) average interval. Similarly, time interval, d_time, is the difference between the latest time variable value, clk_edge, and a previously stored time variable value, clk_edge, measured over the same time interval. Sampling interval, d_edge, therefore represents the number of new encoder edges or the change in the pulse_count value that occurred over the selected average interval. Similarly, time interval d_time is the change in time, measured from the first to last encoder edge, for the same sampling interval, d_edge, and average interval. Various types of position feedback devices may be used, such as the encoder described above, a high resolution encoder, or a resolver, and the application of the present invention is not limited to any particular position feedback device. The velocity noise filter 230 operates on accumulated position and outputs a near ideal velocity value that is band-limited.

An exemplary transfer function for the velocity noise filter 230, independent of the position feedback device type, can be expressed as:

$\begin{matrix} {{{G(Z)} = \frac{1 - Z^{- N}}{T_{v}N}},} & (2) \end{matrix}$ where: N=number of taps, typically ranging from 1 to 256 in powers of two,

-   -   T_(v)=sample time of the filter, and     -   Z=exp(sT_(v))

By configuring the number of taps, N, in the velocity noise filter 230, the bandwidth and anticipated noise level is controllable. In general, the bandwidth decreases as the number of taps increases and lower bandwidth reduces noise level. Noise is thus reduced by increasing N.

The velocity error filter 227 is implemented using a second order IIR filter. An exemplary transfer function for the filter 227 can be expressed as:

$\begin{matrix} {{{G(s)} = \frac{1}{\left( {1 + {T_{f}s}} \right)^{2}}},} & (3) \end{matrix}$ where T_(f)=filter time constant in seconds. A higher order filter is contemplated and may be employed in some embodiments. The velocity error filter 227 attenuates high frequency sidebands of the FIR velocity noise filter 230. The bandwidth of the velocity error filter 227 is typically set at a multiple of the bandwidth of the velocity noise filter 230. For instance, the bandwidth of the velocity error filter 227 may be set at 6 times that of the velocity noise filter 230. Other multiples, such as between about 3 and 9, or other values may be used. For example, in embodiments where the inertia adaption unit 290 is enabled, the bandwidth of the velocity error filter 227 may be set at 3 times the selected velocity bandwidth.

Turning now to FIG. 5, a simplified block diagram of the velocity compensation unit 285 of FIG. 3 is provided. The velocity compensation unit 285 includes a velocity compensation gain calculator 400 and two multipliers 410, 420 cooperating to generate the feed forward velocity compensation signal 287.

Referring again to FIG. 3, in the illustrated embodiment, position regulator 200 and velocity regulator 225 operate at different update intervals. T_(x) represents the interrupt interval of the position regulator 200, and T_(v) represents the interrupt interval of the velocity regulator 225. In the illustrated embodiment, the reference velocity signal 140 is oversampled at a rate 4 times that of the reference position signal 155, so T_(x)=4T_(v). Other sampling rate arrangements are contemplated, including no oversampling, a higher level of oversampling, or a lower level of oversampling.

Velocity compensation unit 285 receives the sample time of velocity regulator 225 (T_(v)), the sample time of the position regulator 200 (T_(x)) and the time delay of the velocity noise filter 230 (i.e., based on N), during a commissioning procedure. In addition, compensation unit 285 receives the acceleration signal 260 (DV/DT) from the derivative module 255. However, in an embodiment without inertia compensation, the derivative module 255 may be incorporated into compensation unit 285.

Multiplier 410 multiplies the acceleration signal 260 by the position regulator sample time T_(x). Multiplier 420 then multiplies the output of multiplier 410 by a velocity compensation gain factor, Vcomp_gain, generated by the velocity compensation gain calculator 400 to generate the velocity compensation signal 287 that is, in turn, provided as an input to summer 215 shown in FIG. 3.

To illustrate operation of velocity compensation unit 285, a simple example is described in which the velocity noise filter has one tap (i.e., n=0, N=20⁰=1). The value of Vcomp_gain is normalized to unity when n=0. The output 260 of the derivative module 255 and T_(x) (sec) are multiplied by multiplier 410 to generate an intermediate velocity compensation signal 430. Note that in steady state, the value of intermediate velocity compensation signal 430 is zero because the value output by derivative module 255 is zero (i.e., no acceleration). When accelerating, the velocity compensation signal 287 restores an increment of velocity-seconds lost to the sample and hold process, as illustrated in FIG. 7. The velocity compensation unit 285 uses a feed forward compensation technique to anticipate the velocity seconds that are lost due to the discrete position samples and restore the lost velocity-seconds. Restoring lost velocity-seconds of the proper level secures an ideal correction and a near zero position error at the time of interrupt. The compensation provided by the velocity compensation signal 287 results in a reduced position error, thus reducing the observable performance difference between steady state and acceleration/deceleration periods of operation.

The velocity noise filter 230 imparts a delay that varies depending on the number of taps, N. It is known that delays through an FIR filter can be made precisely linear by design. Because the velocity noise filter 230 is linear in the illustrated embodiment, the filter delay is precisely known and can be factored into the compensation calculation of the velocity compensation gain calculator 400. The velocity noise filter 230 is run at the same sampling rate as the velocity regulator 225, T_(v), at a task frequency that is an exact multiple of the position regulator 200. The velocity noise filter 230 could also be run at the same rate. In terms of timing, the velocity tasks could be performed after the position regulator 200 (i.e., T_(v) after T_(x)) or before the position regulator 200 (i.e., T_(v) before T_(x)). The timing relationships are predetermined. In either case, a precise formula can be applied via velocity compensation gain calculator 400 to restore lost velocity-seconds. The formula for Vcomp_gain where the velocity task is performed prior to the position task is:

$\begin{matrix} {{Vcomp\_ gain} = {1 - {\left\lbrack {\frac{T_{v}}{T_{x}} \cdot \frac{\left( {N - 1} \right)}{2}} \right\rbrack.}}} & (4) \end{matrix}$

The formula for Vcomp_gain where the position task is performed prior to the velocity task is:

$\begin{matrix} {{Vcomp\_ gain} = {1 - {\left\lbrack {\frac{T_{v}}{T_{x}} \cdot \frac{\left( {N + 1} \right)}{2}} \right\rbrack.}}} & (5) \end{matrix}$

Returning to FIG. 2, the reference velocity signal 140 and reference position signal 155 are sent to the other slave drives 110 controlling motors 112 that are to be operated synchronously with the motor 102. It should be appreciated in this regard that the master drive 100 sends signals to a plurality of slave drives 110. The cooperation between the master drive 100 and the slave drives 110 ensure that all motors operate at the same velocity and at the same position, and that adjustments are made to correct position errors when a feedback position of a given motor does not equal the reference position of the motor. Accordingly, only one virtual encoder 145 is necessary for a system operating a plurality of synchronously controlled motors.

Turning now to FIG. 8, a timing diagram illustrating the synchronization between various updates in the electronic line shaft 10. The updates are generally categorized as tasks. A velocity task 450 is executed to perform the functions of the velocity regulator 225, velocity noise filer 230, and inertia adaption unit 290 (see FIG. 3), which may be referred to collectively as a velocity regulator, even though they are illustrated as separate entities. The output of the velocity task 450 is the torque reference signal 280. A reference and position task 460 is executed to perform the functions of the position regulator 200 (see FIG. 3), ramp generator 135, virtual encoder 145 (see FIG. 2), inertia compensation unit 250, and velocity compensation unit 285. Collectively, the velocity task 450 and reference and position task 460 may be referred to as a system task 465. The system task 465 performs the outer loop control. A PWM task 470 is performed for generating the torque input signal 120 based on the torque reference signal 280 in the motor controller 295. A background task 480 is provided to perform other housekeeping tasks.

Referring to FIGS. 3 and 8, the system task 465 may be performed by a first processor 485, and the PWM task 470 may be performed by a second processor 490. The processors 485, 490 are shown in phantom in FIG. 3 to indicate their association with the functional units shown.

In the illustrated embodiment, the velocity task 450 is performed at the same frequency as the reference and position task 460, and the PWM task 470 is performed at twice the frequency of the velocity task 450. Of course, other relative frequencies may be used. For example, the reference and position task 460 may only be performed every two or four iterations of the velocity task 450, depending on the characteristics of the controlled system. As illustrated, the velocity task 450 is performed prior to the reference and position task 460. The velocity task 450 is delayed one cycle with respect to the reference and position task 460. That is, a given reference and position task 460 (time=ts) generates data for the subsequent velocity task 450 occurring at the next system interrupt (2ts).

Generally, the tasks 465, 470 are synchronized using the synchronization signal 167, refer to FIG. 2, generated by the synchronization unit 165. Hence, even if the tasks are performed by different processors with different clock speeds, they can be phase delayed or offset with respect to one another to provide the most current information for each task. For example, because the system task 465 is the pacesetter, even though the PWM task 470 has the higher update frequency, the system task 465 can establish when the PWM task 470 starts to ensure that the PWM task 470 operates on the most recent velocity, position, and reference information.

Referring to FIG. 8, the time, t1, represents the time required for the system task 465 to generate the torque reference signal 280 shown in FIG. 3 plus a delay of td to ensure the availability of the current data to the subsequently occurring PWM task 470. Hence, the torque reference signal 280 is calculated td seconds prior to the start of the PWM task 470. The specific value of td may vary depending on the particular system implementation, which may affect the time required to generate the required data for the next loop. The interval for the second PWM task 470 in a single interrupt is defined as t2, which for the illustrated implementation (e.g., 2 PWM updates per interrupt) is t2=t1+ts/2.

The synchronization of the task times for the system task 465 and the PWM task 470 for drives with multiple processors improves the ability of the motor drive 100, 105 to provide predictable and accurate performance. This synchronization assures that all loops are executing at proper intervals with respect to one another such that information flows from one task to another at the appropriate time to provide the most current information, thereby minimizing staleness of the control signals. This control method eliminates the potential for frequency modulation or beat frequencies occurring between the control loops.

Referring now to FIG. 9, a simplified block diagram is illustrated that shows another electronic line shaft configuration 10 a that is consistent with a second inventive embodiment. In FIG. 9, components that are similar to the components shown in FIG. 2 above and that operate in a similar fashion are labeled by similar numbers followed by an “a”. For instance, motor 102 a in FIG. 9 is akin to motor 102 in FIG. 2, motor control system 104 a in FIG. 9 is akin to control system 104 in FIG. 2, etc. In the interest of simplifying this explanation components in FIG. 9 that are similar to and operate in a similar fashion to components described above with respect to FIG. 2 will not again be described here in detail.

The primary difference between configurations 10 and 10 a in FIGS. 2 and 9, respectively, is that, in configuration 10, a master drive or unit 100 includes the virtual encoder 145 and ramp generator 135 while in configuration 10 a shown in FIG. 9 there is a virtual encoder 145 a and ramp generator 135 a and synchronization unit 131 that are part of a stand alone reference signal generator 180 or part of another drive that generates position and velocity reference signals on lines 155 a and 140 a, respectively, as well as a Synchronization signal Ss. Thus, none of the units in FIG. 9 is a master unit and instead all of the units 100 a, 110 a, etc., are operated as slave units that receive reference signals that are transmitted from synchronization unit 131 to synchronization units 133 and 135. synchronization unit 131 receives the position and reference signals via lines 155 a and 140 a, respectively. Because none of the units is a master unit, configuration 10 a does not include delays (e.g., 150, 160) as in FIG. 2.

In addition to providing reference signals to each of the units, synchronizer 165 a also periodically provides synchronization signals Ss to each of the unit controllers 104 a, 114 a, etc. causing the controllers to use stored most recently received position and speed signals to control operation of associated unit motors. Thus, the virtual encoder and ramp generator may either be configured as part of a master drive or may be configured as a stand alone reference signal generator.

Referring to FIG. 10, another block diagram 182 illustrates yet another configuration wherein two separate system configurations 10 a and 10 b are linked together so that units in both systems are substantially synchronized. To this end, system 10 a in FIG. 10 represents similarly labeled system 10 a described above with respect to FIG. 9 and therefore will not be described again here in detail. Here, it should suffice to say that components similarly labeled in system configurations 10 a in FIGS. 9 and 10 operate in the fashion described above. In FIG. 10, the position of motor 112 a or a mechanical device (e.g., a roller, a folder mechanism, etc.) associated with the motor 112 a is used as a control signal for controlling operation of the components in configuration 10 b. For this reason motor 112 a or the device associated therewith is monitored by encoder 116 a can be thought of as a master motor or master mechanical device.

System configuration 10 b includes drives or units 101 and 111 and a synchronizer or synchronization unit 184. Control signal input line 190, as illustrated, is linked to encoder 116 a that generates encoder signals usable to indicate the position of motor 112 a or the mechanical device linked thereto. Input line 190 feeds drive 101.

Drive unit 101 includes a unit motor controller 121, a unit motor 103, an encoder 107 and a reference signal generator 186. Reference signal generator 186 includes a position module 172 and a position predictor 170. Position module 172 receives the encoder signal on line 190 and uses that signal to generate a position signal that is provided to position predictor 170.

Referring to FIGS. 10 and 11, position predictor 170, as the label implies, predicts a position of the device or motor associated with encoder 116 a. In addition, predictor 170 filters the position signal to eliminate fast changes in the position signal (e.g., due to quick load changes, etc.). To these ends, position predictor 170 includes a position to velocity converter 191, a low pass Filter 192, summers 194, 199, and a loop compensation module 197 and a ratio block 198 and a virtual encoder 193 Compensation module 197 receives the position signal from Summer 199 (See FIG. 10) and provides an output to summer 194. Summer 199 receives the position reference from position module 172 and the ratioed predicted position feedback from feedback module 198. That is, feedback module 198 ratios the predicted position information to match the reference position.

Converter 191 receives a position signal and converts that signal to a velocity signal that is provided to the low pass filter 192. The output of low pass filter 192 goes to input summer 194. The output of summer 194 provides a predicted velocity reference 171 that goes to virtual encoder module 193 and to the delay module 195. The virtual encoder 193 output provides a predicted position reference 173 and a input to the ratio module 198 and delay module 195. The delay module 195 provides a one sample delayed position 175 and velocity signal 174 signal. Here the prediction interval signal is a signal that indicates an estimated time period for a signal to be transmitted to the unit controllers via synchronizer 141 and for the unit controllers to alter motor operations as a function thereof. Thus, in at least some embodiments the prediction interval signal will be slightly longer than the interval between synchronization signals generated by synchronizer 141. In at least some embodiments where unit controllers operate essentially in real time to control associated motors as a function of the reference signals, the prediction interval may be set to the interval between synchronization signals generated by synchronizer 184.

Summer 194 adds the anticipated position change signal to the current position signal to generate a predicted position reference signal on line 173. The output of converter 191 is provided as the velocity reference signal on line 171. Controller 121 drives motor 103 as a function of position and speed reference signals on lines 175 and 174 and as a function of the encoder signals received from encoder 107 as described above and in the applications and patents that are incorporated by reference above.

Synchronization unit or synchronizer 184 receives the position and speed reference signals from synchronization unit 185 and transmits those signals to each of slave unit 111 and other slave units (not illustrated) that comprise part of configuration 10 b along with synchronization signals for synchronizing use of the reference signals by the unit controllers. Synchronization unit 185 receives the position 173 and speed 171 information from 170.

Thus, if the position provided on line 196 is set correctly, the predicted position of the motor or device monitored by encoder 116 a should be provided along with an associated velocity reference signal to the unit controllers in configuration 10 b at essentially the same time that the unit controllers in configuration 10 a receive similar reference position and velocity signals and motors in both configurations 10 a and 10 b should be substantially synchronized.

The particular embodiments disclosed above are illustrative only, as the invention may be modified and practiced in different but equivalent manners apparent to those skilled in the art having the benefit of the teachings herein. Furthermore, no limitations are intended to the details of construction or design herein shown, other than as described in the claims below. For example, while one type of position predictor 170 has been described above, other more complicated predictors are contemplated.

In addition, while the system described above with respect to FIG. 10 includes one electronic line shaft that is linked via an encoder to another electronic line shaft, in at least some applications the encoder may monitor a motor or device that forms part of a mechanical line shaft. Moreover, while control system 104 in FIG. 3 is described in the context of the configuration shown in FIG. 2, control system 104 may be employed in any of the configurations shown in FIG. 9 or 10.

Thus, it is evident that the particular embodiments disclosed above may be altered or modified and all such variations are considered within the scope and spirit of the invention. Accordingly, the protection sought herein is as set forth in the claims below. 

1. An assembly for synchronizing machine operations, the assembly comprising: a reference generator for generating a speed reference signal and a position reference signal; a plurality of slave units, each slave unit including: a mechanical device; a separate unit motor linked to and driving the mechanical device; and a separate unit controller for controlling the unit motor, the unit controller receiving and using the reference signals to control motor operation; and a synchronizer receiving the reference signals from the reference signal generator and simultaneously providing the reference signals to each of the slave unit controllers for use in controlling operation of the motors in a synchronized fashion.
 2. The assembly of claim 1 wherein each slave unit further includes an encoder for generating an encoder signal indicative of position of at least one of the mechanical device and the motor in the associated unit.
 3. The assembly of claim 2 wherein each unit controller receives the encoder signal from the encoder associated with the unit and uses both the reference signal and the encoder signal to control motor operation.
 4. The assembly of claim 1 further including a master controller that provides a command signal, the reference generator including a ramp module and a virtual encoder, the ramp module receiving the command signal and generating the speed reference signal as a function of the command signal, the virtual encoder receiving the speed reference signal and deriving the position reference signal from the speed reference signal.
 5. The assembly of claim 1 wherein the synchronizer generates and provides periodic synchronization signals to the unit controllers indicating times at which the reference signals are to be used by the unit controllers to control motor operation.
 6. The assembly of claim 5 further including a master unit, the master unit including the reference generator, at least one delay element, a master mechanical device, a master motor linked to and driving the master mechanical device and a separate master unit controller for controlling the master motor, the master unit controller receiving and using the reference signals to control motor operation, the at least one delay element located between the reference generator and the master unit controller to delay reception of the reference signals by the master unit controller during the period over which the reference signals are transmitted to the slave unit controllers.
 7. The assembly of claim 6 wherein the synchronizer provides the synchronization signals to the master unit controller and each of the slave unit controllers.
 8. The assembly of claim 1 for use with at least one of a master motor and a master mechanical device driven by a master motor, the apparatus further including an encoder for sensing rotation of the at least one of the master motor and the master mechanical device and generating an encoder signal that is provided to the reference generator, the reference generator using the encoder signal to generate the position and speed reference signals.
 9. The assembly of claim 8 wherein the reference generator includes a position module and a position predictor, the position module receiving the encoder signal and generating a position signal as a function of the encoder signal, the position signal provided to the position predictor that predicts a future position of the at least one of the master motor and the master mechanical device.
 10. The assembly of claim 9 wherein the position predictor includes a position to velocity converter, a multiplier and a summer, the converter converting the position signal into a velocity signal, the multiplier multiplying the velocity signal by a prediction time interval to generate a predicted position change and the summer adding the predicted position change and the position signal to generate a predicted position signal that is provided as the position reference signal.
 11. The assembly of claim 1 wherein at least a subset of the mechanical devices are cylinders.
 12. The assembly of claim 11 wherein the assembly is a printing assembly.
 13. The assembly of claim 12 wherein the printing assembly includes at least one folding unit and a plurality of printing units.
 14. The assembly of claim 1 wherein at least a subset of the unit controllers include an inertia adaptation units that receive the encoder signal and use the encoder signal to alter motor control to compensate for inertia changes.
 15. The assembly of claim 8 wherein at least a subset of the unit controllers include an inertia adaptation units that receive the encoder signal and use the encoder signal to alter motor control to compensate for inertia changes.
 16. The assembly of claim 15 wherein the reference generator includes a position predictor that uses at least a derivative of the encoder signal to generate the speed reference signal.
 17. An assembly for synchronizing machine operations, the assembly comprising: a reference generator for generating a speed reference signal and a position reference signal; a plurality of slave units, each slave unit including: a mechanical device; a separate motor linked to and driving the mechanical device; an encoder for generating an encoder signal usable to identify the rotational position of at least one of the mechanical device and the motor; a separate unit controller for controlling the unit motor, the unit controller receiving and using the reference signals and the encoder signals to control motor operation, the unit controller including an inertia adaptation unit that receives the encoder signal and uses the encoder signal to modify motor control as a function of load inertia; and a synchronizer receiving the reference signals from the reference signal generator and simultaneously providing the reference signals to each of the slave unit controllers for use in controlling operation of the motors in a synchronized fashion.
 18. The assembly of claim 17 further including a command signal source for generating a command signal, the reference generator including a ramp module and a virtual encoder, the ramp module receiving the command signal and generating the speed reference signal as a function of the command signal, the virtual encoder receiving the speed reference signal and deriving the position reference signal from the speed reference signal.
 19. The assembly of claim 17 wherein the synchronizer generates and provides periodic synchronization signals to the unit controllers indicating times at which the reference signals are to be used by the unit controllers to control motor operation.
 20. The assembly of claim 17 further including a master unit, the master unit including the reference generator, at least one delay element, a master mechanical device, a master motor linked to and driving the master mechanical device and a separate master unit controller for controlling the master motor, the master unit controller receiving and using the reference signals to control motor operation, the at least one delay element located between the reference generator and the master unit controller to delay reception of the reference signals by the master unit controller during the period over which the reference signals are transmitted to the slave unit controllers.
 21. The assembly of claim 17 for use with at least one of a master motor and a master mechanical device driven by a master motor, the apparatus further including an encoder for sensing rotation of the at least one of the master motor and the master mechanical device and generating an encoder signal that is provided to the reference generator, the reference generator using the encoder signal to generate the position and speed reference signals, the reference generator including a position module and a position predictor, the position module receiving the encoder signal and generating a position signal as a function of the encoder signal, the position signal provided to the position predictor that predicts a future position of the at least one of the master motor and the master mechanical device and provides the future position as the position reference signal.
 22. An assembly for synchronizing machine operations, the assembly comprising: a reference generator for generating a speed reference signal and a position reference signal; a plurality of slave units, each slave unit including: a mechanical device; a separate motor linked to and driving the mechanical device; an encoder for generating an encoder signal usable to identify the rotational position of at least one of the mechanical device and the motor; a separate unit controller for controlling the unit motor, the unit controller receiving and using the reference signals and the encoder signals to control motor operation, the unit controller including an inertia adaptation unit that receives the encoder signal and uses the encoder signal to modify motor control as a function of load inertia; and a synchronizer receiving the reference signals from the reference signal generator and simultaneously providing the reference signals to each of the slave unit controllers for use in controlling operation of the motors in a synchronized fashion, the synchronizer generating and providing periodic synchronization signals to the unit controllers indicating times at which the reference signals are to be used by the unit controllers to control motor operation.
 23. A method for synchronizing operations of units where each unit includes a mechanical device, a separate motor linked to and driving the mechanical device and a separate unit controller for controlling the unit motor, the method comprising the steps of: generating a master speed reference signal and a master position reference signal; transmitting the speed and position reference signals to the unit controllers; storing the received reference signals at the unit controllers; periodically providing synchronization signals to each of the unit controllers; and when a synchronization signal is received at a unit controller, causing the unit controller to control operation of an associated unit motor as a function of the received reference signals.
 24. The method of claim 23 further including the step of, for each of the units, obtaining a position feedback signal associated with at least one of the unit mechanical device and the unit motor, the step of causing the unit controller to control operation of an associated unit motor including identifying a load inertia estimate using the position feedback signal and controlling operation as a function of each of the inertia estimate and the reference signals.
 25. A method for synchronizing operations of units where each unit includes a mechanical device, a separate motor linked to and driving the mechanical device and a separate unit controller for controlling the unit motor, the method comprising the steps of: providing position feedback signals to each of the unit controllers that indicate the instantaneous position of at least one of the mechanical device and the motor in an associated unit; using the position feedback signals to identify a load inertia estimate; simultaneously releasing speed and position reference signals to each of the unit controllers for controlling the unit motors; and upon release of the reference signals, causing each unit controller to use each of the reference signals and the load inertia estimate to control unit motor operation. 